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Plane: split home-set and home-locked state

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This commit is contained in:
Peter Barker 2018-05-18 12:59:27 +10:00 committed by Andrew Tridgell
parent c09ccf5b61
commit ad600fff68
3 changed files with 1 additions and 6 deletions
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3
ArduPlane/GCS_Mavlink.cpp
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@ -810,7 +810,6 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
new_home_loc.alt += plane.ahrs.get_home().alt;
}
plane.ahrs.set_home(new_home_loc);
AP::ahrs().set_home_status(HOME_SET_NOT_LOCKED);
AP::ahrs().Log_Write_Home_And_Origin();
gcs().send_home();
result = MAV_RESULT_ACCEPTED;
@ -1096,7 +1095,6 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
new_home_loc.lng = (int32_t)(packet.param6 * 1.0e7f);
new_home_loc.alt = (int32_t)(packet.param7 * 100.0f);
plane.ahrs.set_home(new_home_loc);
AP::ahrs().set_home_status(HOME_SET_NOT_LOCKED);
AP::ahrs().Log_Write_Home_And_Origin();
gcs().send_home();
result = MAV_RESULT_ACCEPTED;
@ -1514,7 +1512,6 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
new_home_loc.lng = packet.longitude;
new_home_loc.alt = packet.altitude / 10;
plane.ahrs.set_home(new_home_loc);
plane.ahrs.set_home_status(HOME_SET_NOT_LOCKED);
plane.ahrs.Log_Write_Home_And_Origin();
gcs().send_home();
gcs().send_text(MAV_SEVERITY_INFO, "Set HOME to %.6f %.6f at %um",

3
ArduPlane/commands.cpp
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@ -110,7 +110,6 @@ void Plane::init_home()
gcs().send_text(MAV_SEVERITY_INFO, "Init HOME");
ahrs.set_home(gps.location());
ahrs.set_home_status(HOME_SET_NOT_LOCKED);
ahrs.Log_Write_Home_And_Origin();
gcs().send_home();
@ -138,7 +137,7 @@ void Plane::update_home()
// significantly
return;
}
if (ahrs.home_status() == HOME_SET_NOT_LOCKED) {
if (ahrs.home_is_set() && !ahrs.home_is_locked()) {
Location loc;
if(ahrs.get_position(loc)) {
ahrs.set_home(loc);

1
ArduPlane/commands_logic.cpp
View File

@ -937,7 +937,6 @@ void Plane::do_set_home(const AP_Mission::Mission_Command& cmd)
init_home();
} else {
ahrs.set_home(cmd.content.location);
ahrs.set_home_status(HOME_SET_NOT_LOCKED);
ahrs.Log_Write_Home_And_Origin();
gcs().send_home();
gcs().send_ekf_origin();